#include <cmath>
#include <cstring>
#include <ctime>
#include <iostream>
#include <limits>
#include <queue>
#include <stack>
#include <stdio.h>
#include <termio.h>
#include <thread>
#include <vector>

#include "camera.hpp"
#include "dog.hpp"
#include "location.hpp"
#include "motion.hpp"
#include "nlohmann/json.hpp"
#include "slam.hpp"

int main(int argc, char** argv)
{
    bool debug = false;
    if (argc > 1) {
        debug = true;
    }

    unitree::robot::ChannelFactory::Instance()->Init(0, "eth0");
    Dog go2(debug);
    go2.start();

    while (true) {
        sleep(1);
    }

    go2.stop();

    return 0;
}
